In Parshas Vayishlach, Yaakov Avinu davens that Hashem protect him from Eisav. The mefarshim, based on this, discuss the concept of "spontaneous prayer" outside of the required, daily obligations. This shiur discusses the times when the Halacha encourages personal tefillot, whether in the form of a shemona esrai or through sefer Tehillim.
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